Merge pull request #24 from FRC-1721/feat/controllerUpdate

FRC-1721 · Mar 14, 2024 · 1e6d8c3 · 1e6d8c3
2 parents af9ceb4 + c9b7716
commit 1e6d8c3
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Showing 2 changed files with 9 additions and 8 deletions.
diff --git a/rio/robotcontainer.py b/rio/robotcontainer.py
@@ -116,6 +116,15 @@ def __init__(self) -> None:
             )
         )
 
+        self.shooter.setDefaultCommand(
+            commands2.cmd.run(
+                lambda: self.shooter.setFlyWheelSpeed(
+                    self.opController.getRawAxis(2) + 0.16
+                ),
+                self.shooter,
+            )
+        )
+
     def configureButtonBindings(self) -> None:
         """
         Use this method to define your button->command mappings. Buttons can be created by

diff --git a/rio/subsystems/shooter.py b/rio/subsystems/shooter.py
@@ -117,14 +117,6 @@ def isReady(self):
     def currentSpeed(self) -> float:
         return self.flyEncoder.getVelocity()
 
-    def setIdleBrake(self):
-        self.flyMotor.setIdleMode(CANSparkBase.IdleMode.kBrake)
-        self.flyMotor.burnFlash()
-
-    def setIdleCoast(self):
-        self.flyMotor.setIdleMode(CANSparkBase.IdleMode.kCoast)
-        self.flyMotor.burnFlash()
-
     def setFlyAngle(self, angle: float):
         self.flyPIDController.setReference(angle, CANSparkMax.ControlType.kPosition)